求大神解决mpu6050程序，一直卡在dmp初始化，小弟不胜感激

糖糖人 · 发表于 2016-8-28 17:06:40

u8 mpu_dmp_init(void)
{
u8 res=0;
MPU_IIC_Init(); //
if(mpu_init()==0) //
{
res=mpu_set_sensors(INV_XYZ_GYRO|INV_XYZ_ACCEL);//
if(res)return 1;
res=mpu_configure_fifo(INV_XYZ_GYRO|INV_XYZ_ACCEL);/
if(res)return 2;
res=mpu_set_sample_rate(DEFAULT_MPU_HZ); //
if(res)return 3;
res=dmp_load_motion_driver_firmware(); //
if(res)return 4;
res=dmp_set_orientation(inv_orientation_matrix_to_scalar(gyro_orientation));//
if(res)return 5;
res=dmp_enable_feature(DMP_FEATURE_6X_LP_QUAT|DMP_FEATURE_TAP| /
      DMP_FEATURE_ANDROID_ORIENT|DMP_FEATURE_SEND_RAW_ACCEL|DMP_FEATURE_SEND_CAL_GYRO|
      DMP_FEATURE_GYRO_CAL);
if(res)return 6;
res=dmp_set_fifo_rate(DEFAULT_MPU_HZ); //
if(res)return 7;
res=run_self_test(); //
if(res)return 8;
res=mpu_set_dmp_state(1); //
if(res)return 9;
}else return 10;
return 0;
}
芯片是stm32f103zet6，研究了两周IIC无果，很是失望，不过就是喜欢折腾。模块在51的板子上测试是好的。模块GY-521 MPU6050